Fix CI bugs with different compilers.

flexible-collision-library · Jun 10, 2018 · 4a38cdb · 4a38cdb
1 parent 8b40748
commit 4a38cdb
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Showing 2 changed files with 13 additions and 4 deletions.
diff --git a/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h b/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h
@@ -1113,7 +1113,7 @@ static ccd_vec3_t sampledEPADirection(const ccd_pt_t* polytope,
     }
   } else {
     ccdVec3Copy(&dir, &(nearest_pt->witness));
-    ccdVec3Scale(&dir, CCD_REAL(1) / std::sqrt(nearest_pt->dist));
+    ccdVec3Scale(&dir, ccd_real_t(1) / std::sqrt(nearest_pt->dist));
   }
   return dir;
 }

diff --git a/test/narrowphase/detail/convexity_based_algorithm/test_epa.cpp b/test/narrowphase/detail/convexity_based_algorithm/test_epa.cpp
@@ -270,10 +270,12 @@ GTEST_TEST(FCL_GJK_EPA, floodFillSilhouette1) {
   p.v[0] = 0;
   p.v[1] = 0;
   p.v[2] = 1.1;
-  CheckFloodFillSilhouette(hex, hex.f(0), {0}, p, {0}, {0}, {});
+  const std::unordered_set<int> empty_set;
+  CheckFloodFillSilhouette(hex, hex.f(0), {0}, p, {0}, {0}, empty_set);
 
   // Run silhouette algorithm for the other edges
-  CheckFloodFillSilhouette(hex, hex.f(0), {0, 1, 2}, p, {0, 1, 2}, {0}, {});
+  CheckFloodFillSilhouette(hex, hex.f(0), {0, 1, 2}, p, {0, 1, 2}, {0},
+                           empty_set);
 }
 
 GTEST_TEST(FCL_GJK_EPA, floodFillSilhouette2) {
@@ -377,7 +379,14 @@ bool TriangleMatch(
 
 // Construct the mapping from feature1_list to feature2_list. There should be a
 // one-to-one correspondence between feature1_list and feature2_list.
-// @param feature1_list[in]
+// @param feature1_list[in] A list of features to be mapped from.
+// @param feature2_list[in] A list of features to be mapped to.
+// @param cmp_feature[in] Returns true if two features are identical, otherwise
+// returns false.
+// @param feature1[out] The set of features in feature1_list.
+// @param feature2[out] The set of features in feature2_list.
+// @param map_feature1_to_feature2[out] Maps a feature in feature1_list to
+// a feature in feature2_list.
 template <typename T>
 void MapFeature1ToFeature2(
     const ccd_list_t* feature1_list, const ccd_list_t* feature2_list,